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the robot laboratory was established at

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goddard to prepare for the flight tele

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robotics servicer fts operations on the

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space station

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it contained several elements graphic

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simulations for defining engineering

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criteria definition of operational

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scenarios which show how the fts will

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operate on space station task

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decomposition which breaks the robot

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operations down to primitive tasks to

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see how they perform on space station

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operator interfaces and workstation

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designs software development and

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here you see a picture of the fts in the

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shuttle bay preparing to assemble an

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attached payload station interface

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adapter

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this equipment will interface attached

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payloads to the space station

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the remote manipulator system or rms in

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the space shuttle bay is preparing to

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lift the station interface adapter sia

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out of the cargo bay in close proximity

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the fts is erected next to the sia and

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deploys one of the legs from its stowed

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after the leg is deployed the others are

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subsequently deployed and the sia is

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brought up to the structural trust nodes

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by the fts

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this allows the interface adapter to be

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secured in a soft dock position

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following this the fts through a tool

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attached to its end defector brings the

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joint in close proximity and fastens it

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the rms now goes back to the cargo bay

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and lifts a deck carrier with an oru or

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orbital replacement unit out of the bay

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bringing it in close proximity to the

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sie

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the deck carrier and brings the two

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together to hard dock or secure the two

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elements a crank is turned which

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actuates the lead screw mechanism

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this is a description of a hierarchical

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ada language robot programming system

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are

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harps

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using the nazrim architecture which

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stands for nasa reference model

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this is the architecture established by

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the national institute of science and

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technology and it is hierarchical in its

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form

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on the left is sensor processing

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in the middle world models of the fts

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and its environment

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and on the right

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task decomposition

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at the very lowest levels it has been

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implemented to operate with joysticks on

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a simulated robot to show how the robot

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here's a picture of the operator working

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with joysticks to bring the simulated

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end effector of the robot in proximity

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to a handle on the orbital replacement

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you'll notice it turns yellow when

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approaching the handle and red when it

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actually contacts it

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this permits the operator to learn the

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the fts operational simulator has

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performed various tasks as you have seen

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in the software simulation the leg

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deployment

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the docking to the truss the duct

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carrier movement to the sie the hard

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docking and in addition the thermal

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coupler and enter oru exchange

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these tasks were built with full-scale

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models of space station hardware and

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utilized floor-mounted puma or research

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here's the operator workstation with the

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operator using joysticks to control the

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robot arms

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here the gantry robot which emulates the

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rms brings the station interface adapter

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sia to the side of the truss

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the puma robot is positioning itself to

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the handle on the leg through a machine

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vision system

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through a camera and computer will

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recognize four dots on the white

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aligning the tool and end effector to

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the target the end effector is inserted

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into the hole or in the end effector

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jaws are closed to fasten it to the

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once engaged the robots through the

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operator in the computer will bring the

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leg to the deployed position

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once deployed a latching system keeps

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at this point the robot disengages from

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the leg and is placed in a stowed

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condition

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the gantry now lowers the station

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interface adapter onto the truss face

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where it is soft docked which means that

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a latching system will keep it in

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position so that when the gantry is

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removed there will be no motion of the

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station interface adapter

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in the space world when the rms leaves

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the sia doesn't disengage from the truss

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and now the robot comes down

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and fastens a nut connecting a screw

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into the node of the space station truss

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by

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now the gantry picks up the deck carrier

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and the attached payload and moves it to

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the truss sia interface

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this is all pre-programmed into the

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gantry controller in real life the rms

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will be operated from the aft flight

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deck of the shuttle

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in future months in the laboratory a

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mock-up of the aft flight deck will

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permit a crewman to operate the gantry

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now the deck carrier is brought down

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onto the sia through a series of pins

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and cones underneath

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it aligns itself and drops on the soft

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dock

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lead screw held in the center

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this has a motorized nut which if the

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proper power were available would draw

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the deck carrier to the sia

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the robot in the event of power outage

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or no power availability can manually

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crank the screw

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as shown here to bring the deck carrier

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and the sie in the assembled

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the robot now moves over to a thermal

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coupler this is an extension device

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which would permit fluids which are

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needed by the attached payload to be

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joined to the main utility lines on the

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space station

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the handle which you will notice is a

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common handle we use to interface the

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robotic end effector to the task it will

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be doing

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it lifts one half of the coupler which

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would have a hose connection to the

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payload down to the leg of the sia which

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simulates the position of the thermal

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a soft dock connection is then made

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which would permit the coupler to be

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held together while the end effector is

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released to do other

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operations this is the first step

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required to make the connection you'll

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see that the robot arm is twisting the

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indications on the screen for the

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operator on his left shown as yellow

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bars indicate the positions of the

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joints of the robot

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in the center of the bar shot the

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vertical bars indicate the forces on the

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coupler when they are reduced to zero it

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means that there is no stress on the

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coupler and it will stay in position

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when released you'll notice the same

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the jaws close in the reset position and

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now the robot moves over to a collar

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containing a screw which when actuated

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as shown brings the two couplers

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together to finally fasten the two

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in this configuration shown the robot is

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opening a door to a simulated attached

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payload the door is opened by the robot

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this is to simulate the exchange of an

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inter-orbital replacement unit of a

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failed component or film package

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exchange for an instrument for instance

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the robot goes through its motions

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autonomously that is the computer has

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now the robot reaches into the inner box

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attaches itself to the oru

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it then places the oru on a stand which

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has been designed to accept a receptacle

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on the bottom for power conditioning and

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the next series of tests were performed

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on the engineering test bed

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this test bed contains a pair of seven

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degree of freedom robot arms and hand

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controllers

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it is used to develop control algorithms

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or mathematical laws to determine the

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robot operation a safety system to

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protect the robot from collisions in

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defectors for gripping objects in the

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space environment and dynamic models in

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order to replicate zero gravity motions

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and determine instabilities

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here

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the operator is controlling the large

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seven degree of freedom robot

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by seven degrees of freedom it contains

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unlike the puma robots you've seen

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before an additional joint which permits

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it to reach around objects much as the

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elbow of a human arm

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it is shown in the upright position

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the operator has a mini master hand

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controller which is a replication of his

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arm

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every motion he makes is followed by the

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robot in a master slave operation

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now the operator is bringing the end

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effector which has roller grippers for

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secure mating to the side of a handle on

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the white column

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you will notice he uses his fingers to

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index the arm

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indexing means small motions in the arm

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left and right will permit large motions

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in the robot arm such that the operator

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does not have to make inordinate motions

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to move the slave robot through large

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trajectories

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now the operator is lining the end

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effector up to the handle

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in future days we will have what is

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called force reflection in the handle

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such that when the operator makes

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contact with the handle and closes the

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jaws of the gripper

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forces of connections will be felt by

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the operator so that he gets a feel for

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the operation and permits more dextrous

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the next sequence shows the dexterity of

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the robot with its large number of

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degrees of freedom it can move through a

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very wide sphere of motion here it is

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shown reaching up in back of a camera

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which is mounted on the top

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if indeed the camera were out of focus

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or needed repositioning the robot could

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essentially

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change the camera position if needed

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essentially it can do maintenance on

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itself

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you will notice the very dexterous

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the lab expansion program has been

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designed as a new construction of

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facilities initiative in order to

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provide more space for users research

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activities and flight hardware

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integration

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it contains fifteen thousand square feet

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and would cost approximately three and a

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half million dollars to build

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we're hoping to get it ready in mid 1990

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however the current plan is to have it

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in a state of readiness by the end of

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here is an artist concept of the lab on

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the right the laboratories that exist

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today with the gantry robot the control

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workstation and the mezzanine for

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software development on the left we have

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the expanded building which will house

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two laboratory modules

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the modules emulate the lab modules on

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the space station from which astronauts

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can operate in a simulated environment

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housed at the other end of the building

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the new extension will have many robots

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for doing research work advanced

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technology and clean room integration of

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flight articles before they migrate to

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the main laboratory for testing

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this facility will permit upgrading